Software application for sensor analysis

Patent metadata

Field	Value
Publication number	US-11807276-B2
Application number	US-202218059948-A
Country	US
Kind code	B2
Filing date	Nov 29, 2022
Priority date	Nov 9, 2020
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

A method includes determining a target specification map that is associated with a task and that indicates, for each respective region of a plurality of regions around a vehicle equipped with a sensor, a target value of a parameter of the sensor. The method also includes determining a capability specification map that indicates, for each respective region, an attained value of the parameter that the sensor is configured to provide. The method additionally includes comparing the capability specification map to the target specification map to determine, for each respective region, a disparity between the target value and the attained value. The method further includes, based on the comparing, identifying one or more of: a first subset of the plurality of regions where the target value exceeds the attained value or a second subset of the plurality of regions where the attained value meets or exceeds the target value.

First claim

What is claimed is:

1. A computer-implemented method comprising:
obtaining, from a sensor on a vehicle, a plurality of sensor data representing a plurality of instances of an object to be detected in connection with performing a corresponding task by the vehicle, wherein the plurality of sensor data represents a spatial variation in an attribute of the plurality of instances of the object across a plurality of regions around the vehicle;
determining, based on the plurality of sensor data and for each respective region of the plurality of regions, a corresponding attribute value associated with detection, in the respective region, of one or more instances of the plurality of instances of the object; and
determining, based on the corresponding attribute value for each respective region of the plurality of regions, a target specification map for the corresponding task, wherein the target specification map indicates, for each respective region of the plurality of regions, a corresponding target value of a parameter of the sensor that is sufficient to detect, in the respective region, the one or more instances of the object.

2. The computer-implemented method of claim 1 , wherein the plurality of sensor data is captured by a plurality of sensors on one or more vehicles and represents the plurality of instances of the object from a plurality of points of view associated with the one or more vehicles.

3. The computer-implemented method of claim 1 , wherein:
determining the corresponding attribute value further comprises:
determining a plurality of candidate locations of a plurality of simulated instances of the object relative to the vehicle; and
determining, based on the plurality of candidate locations and for each respective region of the plurality of regions, a simulated attribute value associated with simulated detection, in the respective region, of one or more simulated instances of the plurality of simulated instances;

the target specification map is determined further based on the simulated attribute value for each respective region of the plurality of regions; and
the target specification map indicates, for each respective region of the plurality of regions, a corresponding simulated target value of the parameter of the sensor that is sufficient to detect, in the respective region, the one or more simulated instances of the object.

4. The computer-implemented method of claim 3 , wherein determining the plurality of candidate locations comprises:
determining a plurality of simulated locations of the plurality of simulated instances of the object within an environment;
determining a plurality of candidate road geometries within the environment between the vehicle and the simulated instances of the object; and
determining the plurality of candidate locations of the plurality of simulated instances of the object relative to the vehicle based on the plurality of simulated locations and the plurality of candidate road geometries.

5. The computer-implemented method of claim 1 , wherein determining the target specification map comprises:
determining a maneuver to be performed by the vehicle as part of the corresponding task in response to detection of the object;
determining a minimum distance between the vehicle and the object that allows the vehicle to perform the maneuver; and
determining, for each respective region of the plurality of regions around the vehicle, the corresponding target value based on the minimum distance such that, given the corresponding attribute value for the respective region, the object is detectable in the respective region before the vehicle reaches the minimum distance.

6. The computer-implemented method of claim 1 , wherein the target specification map is determined further based on road conditions comprising one or more of: (i) a number of traversable lanes, (ii) a maximum slope of traversable lanes, or (iii) a minimum turn radius of the traversable lanes.

7. The computer-implemented method of claim 1 , wherein the plurality of regions around the vehicle are represented in a reference frame of the vehicle.

8. The computer-implemented method of claim 1 , wherein the sensor is a camera, and wherein the parameter of the sensor comprises one or more of (i) an angular resolution of the camera, (ii) a dynamic range of the camera, or (iii) a frame rate of the camera.

9. The computer-implemented method of claim 1 , wherein the sensor is a light detection and ranging (LIDAR) device, and wherein the parameter of the sensor comprises one or more of (i) a minimum range measurable by the LIDAR device, (ii) a maximum range measurable by the LIDAR device expressed as a function of reflectivity, (iii) a beam size of light generated by the LIDAR device, or (iv) a point density expressed as a function of object distance.

10. The computer-implemented method of claim 1 , wherein the sensor is a radio detection and ranging (RADAR) device, and wherein the parameter of the sensor comprises one or more of (i) a minimum range measurable by the RADAR device, (ii) a maximum range measurable by the RADAR device expressed as a function of RADAR cross-section, (iii) a minimum relative speed measurable by the RADAR device, (iv) a maximum relative speed measurable by the RADAR device, (v) an angular accuracy of the RADAR device, or (vi) a minimum angular difference between two targets resolvable by the RADAR device.

11. The computer-implemented method of claim 1 , further comprising:
displaying, by way of a user interface, a visual representation of the target specification map.

12. The computer-implemented method of claim 1 , further comprising:
receiving instructions indicating a modification to a condition on which the target specification map is based; and
updating the target specification map based on the modification to the condition.

13. The computer-implemented method of claim 1 , further comprising:
determining a capability specification map that indicates, for each respective region of the plurality of regions, a corresponding attained value of the parameter that the sensor is configured to provide;
comparing the capability specification map to the target specification map to determine, for each respective region of the plurality of regions, a disparity between the corresponding target value and the corresponding attained value; and
based on comparing the capability specification map to the target specification map, identifying one or more of: (i) a first subset of the plurality of regions where the corresponding target value exceeds the corresponding attained value or (ii) a second subset of the plurality of regions where the corresponding attained value meets or exceeds the corresponding target value.

14. The computer-implemented method of claim 13 , wherein the vehicle is equipped with a plurality of sensors, and wherein determining the capability specification map comprises:
determining, for each respective region of the plurality of regions around the vehicle, the corresponding attained value of the parameter that the plurality of sensors is configured to provide based on a respective attained value of the parameter that each respective sensor of the plurality of sensors is configured to provide.

15. The computer-implemented method of claim 13 , wherein determining the capability specification map comprises:
determining, for each respective region of the plurality of regions around the vehicle, the corresponding attained value based on a position of the sensor on the vehicle.

16. The computer-implemented method of claim 13 , wherein determining the capability spe

Assignees

• Waymo Llc

Inventors

• Dittmer Jeremy
• Evans Ruffin
• Nangia Vaibhav
• Ingram Benjamin
• Chubb Erik
• Winetraub Yonatan

Classifications

• B60W60/0025 Primary

  specially adapted for specific operations · CPC title

• G01S13/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S13/89

  for mapping or imaging · CPC title

• G01S17/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S17/89

  for mapping or imaging · CPC title